U.S. patent number 10,902,871 [Application Number 16/513,611] was granted by the patent office on 2021-01-26 for low-profile ball screw cam elevator mechanism for cold storage data storage device.
This patent grant is currently assigned to Western Digital Technologies, Inc.. The grantee listed for this patent is Western Digital Technologies, Inc.. Invention is credited to David Myers, Diep Nguyen.
United States Patent |
10,902,871 |
Myers , et al. |
January 26, 2021 |
Low-profile ball screw cam elevator mechanism for cold storage data
storage device
Abstract
An approach to a reduced-head hard disk drive (HDD) involves an
actuator subsystem that includes a ball screw cam assembly wherein
the number of starts of a multi-start screw equals the number of
balls riding in a corresponding start. A stepper motor may be
disposed within the screw, to drive rotation of the screw, which
drives translation of an actuator arm assembly so that a
corresponding pair of read-write heads can access different
magnetic-recording disks of a multiple-disk stack. The actuator
subsystem may further include a cam locking mechanism for coupling
and decoupling the actuator arm with a coil support structure and
corresponding voice coil, so that the cam mechanism is able to move
under the control of a voice coil motor when input/output
operations are performed and is able to move the actuator arm
assembly during translation operations.
Inventors: |
Myers; David (Campbell, CA),
Nguyen; Diep (Castro Valley, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Western Digital Technologies, Inc. |
San Jose |
CA |
US |
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Assignee: |
Western Digital Technologies,
Inc. (San Jose, CA)
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Appl.
No.: |
16/513,611 |
Filed: |
July 16, 2019 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20200027479 A1 |
Jan 23, 2020 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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62700777 |
Jul 19, 2018 |
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62700780 |
Jul 19, 2018 |
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62702163 |
Jul 23, 2018 |
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62702154 |
Jul 23, 2018 |
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62747623 |
Oct 18, 2018 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G11B
5/55 (20130101); H02K 37/10 (20130101); G11B
5/5569 (20130101); F16H 25/2204 (20130101); H02K
37/12 (20130101); H02K 1/145 (20130101); F16H
25/2238 (20130101); H02K 7/14 (20130101); F16H
2025/2081 (20130101) |
Current International
Class: |
G11B
5/55 (20060101); H02K 37/12 (20060101); H02K
1/14 (20060101); H02K 7/14 (20060101); H02K
37/10 (20060101); F16H 25/22 (20060101); F16H
25/20 (20060101) |
Field of
Search: |
;360/264-264.5 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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212015000108 |
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Nov 2016 |
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DE |
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2005-346891 |
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Dec 2015 |
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JP |
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Other References
International Search Report and Written Opinion for counterpart
PCT/US2019/042182, dated Feb. 7, 2020, 14 pages, KIPO ISA/KR. cited
by applicant .
International Search Report and Written Opinion for counterpart
PCT/US2019/042202, dated Feb. 7, 2020, 13 pages, KIPO ISA/KR. cited
by applicant .
International Business Machines Corporation, IBM Customer
Engineering Manual of Instruction, RAMAC 305, copyright 1958, 1959
by International Business Machines Corporation, 253 pages. cited by
applicant.
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Primary Examiner: Cao; Allen T
Attorney, Agent or Firm: Henkhaus; John D.
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of priority to U.S. Provisional
Patent Application Ser. No. 62/700,777, filed Jul. 19, 2018; to
U.S. Provisional Patent Application Ser. No. 62/700,780, filed Jul.
19, 2018; to U.S. Provisional Patent Application Ser. No.
62/702,163, filed Jul. 23, 2018; to U.S. Provisional Patent
Application Ser. No. 62/702,154, filed Jul. 23, 2018; and to U.S.
Provisional Patent Application Ser. No. 62/747,623, filed Oct. 18,
2018; the entire content of all of which is incorporated by
reference for all purposes as if fully set forth herein.
Claims
What is claimed is:
1. An actuator system for a reduced-head hard disk drive (HDD), the
system comprising: a ball screw cam assembly comprising: a hollow
screw comprising a particular number of starts encircling the
screw, a ball bearing assembly comprising the particular number of
balls, wherein each ball rides in a corresponding start; and an
actuator arm coupled with the ball bearing assembly; wherein the
actuator arm translates along an axis of the screw upon rotation of
the screw.
2. The actuator system of claim 1, further comprising: a stepper
motor disposed within and coupled with the screw; and wherein the
stepper motor drives the rotation of the screw.
3. The actuator system of claim 2, wherein the cam assembly and the
disposed stepper motor are positioned in a pivot cartridge of the
HDD.
4. The actuator system of claim 2, wherein the stepper motor
comprises a multi-phase claw-pole stepper motor.
5. A hard disk drive comprising the actuator system of claim 2.
6. The actuator system of claim 1, further comprising: a voice coil
configured to rotate the actuator arm, with which a read-write head
slider is coupled, to move the head slider to access portions of a
plurality of disk media; a coil support structure to which the
voice coil is fixedly coupled; and a cam locking mechanism
configured to couple the cam assembly with the coil support
structure and decouple the cam assembly from the coil support
structure; wherein the cam assembly and the actuator arm rotate
with the coil support structure when coupled therewith via the cam
locking mechanism.
7. The actuator system of claim 1, further comprising: a voice coil
configured to rotate the actuator arm, with which a read-write head
slider is coupled, to move the head slider to access portions of a
plurality of disk media; a coil support structure to which the
voice coil is fixedly coupled; and a cam locking mechanism
configured to couple the cam assembly with the coil support
structure and to decouple the cam assembly from the coil support
structure; wherein the cam assembly and actuator arm are decoupled
from the coil support structure via the cam locking mechanism when
the actuator arm translates upon rotation of the screw.
8. The actuator system of claim 1, further comprising: a cam
locking mechanism configured to couple the actuator arm with a coil
support structure, to which a voice coil is fixedly coupled, and to
decouple the actuator arm from the coil support structure, the cam
locking mechanism comprising: a tab extending from the actuator arm
and positioned within a vertical gap formed in the coil support
structure, a vertical slit in the coil support structure configured
to intersect the gap in the coil support structure, and a
compression spring mechanism, housed in the slit of the coil
support structure, which applies a compression force to inner and
outer portions of the coil support structure on each side of the
gap, wherein the compression force is such that the tab is held
within the gap such that the actuator arm is coupled with the coil
support structure.
9. The actuator system of claim 8, wherein the cam locking
mechanism further comprises: a rotatable lock arm coupled with the
coil support structure, comprising the outer portion of the coil
support structure; and an outer diameter crash stop; wherein, in
response to the actuator arm and coil support structure being
driven to rotate such that the lock arm comes into contact with the
crash stop, the compression force is overcome and the lock arm
rotates such that the gap is widened and the tab is free to
translate vertically within the gap.
10. A hard disk drive comprising the actuator system of claim
8.
11. The actuator system of claim 1, wherein the particular number
of starts and the particular number of balls of the cam assembly is
three or greater, thereby forming a plane on which the balls ride
perpendicular to the axis of the screw.
12. The actuator system of claim 1, wherein the ball screw cam
assembly further comprises: a retaining ring configured to hold the
particular number of balls in equal spacing, in a respective start
of the particular number of starts, about an outer periphery of the
screw.
13. The actuator system of claim 12, wherein the ball screw cam
assembly further comprises a bearing race ring that forms a first
portion of an outer split-race with a surface of the actuator arm
that forms a second portion of the outer split-race; wherein the
cam assembly is configured such that four points of contact are
established with each of the balls, including contact with the
first and the second portions of the outer split-race and contact
with an upper portion and a lower portion of the respective start
in which each ball rides.
14. A hard disk drive comprising the actuator system of claim
13.
15. The actuator system of claim 13, wherein the ball screw cam
assembly further comprises: an O-ring positioned in contact with
the first portion of the outer split-race such that the O-ring
applies a compression force to the first portion of the outer
split-race.
16. A hard disk drive comprising the actuator system of claim
1.
17. A cam assembly comprising: a threaded screw comprising a
particular number of starts encircling the screw, a ball bearing
assembly comprising the particular number of balls, wherein each
ball rides in a corresponding start; and a translating part coupled
with the ball bearing assembly; wherein the translating part
translates along an axis of the screw upon rotation of the
screw.
18. The cam assembly of claim 17, wherein the particular number of
starts and the particular number of balls is three or greater,
thereby forming a plane on which the balls ride perpendicular to
the axis of the screw.
19. The cam assembly of claim 17, further comprising: a retaining
ring configured to hold the particular number of balls in equal
spacing, in a respective start of the particular number of starts,
about an outer periphery of the screw.
20. The cam assembly of claim 17, further comprising: a bearing
race ring that forms a first portion of an outer split-race with a
surface of the translating part that forms a second portion of the
outer split-race; wherein the cam assembly is configured such that
four points of contact are established with each of the balls,
including contact with the first and the second portions of the
outer split-race and contact with an upper portion and a lower
portion of the respective start in which each ball rides.
21. The cam assembly of claim 20, further comprising: an
elastomeric O-ring positioned in contact with the first portion of
the outer split-race such that the O-ring applies a compression
force to the first portion of the outer split-race.
22. A reduced-head hard disk drive (HDD), comprising: recording
means for storing digital information; reading/writing means for
reading from and writing to the recording means; means for moving
the reading/writing means to access portions of the recording
means; means for translating the reading/writing means from one
recording means to another recording means; and means for locking
the means for translating while the means for moving is operating
and unlocking the means for translating while the means for moving
is not operating.
23. An actuator system for a reduced-head hard disk drive (HDD),
the system comprising: a ball screw cam assembly comprising: a
hollow screw comprising a particular number of starts, a ball
bearing assembly comprising the particular number of balls, wherein
each ball rides in a corresponding start; an actuator arm coupled
with the ball bearing assembly; a voice coil configured to rotate
the actuator arm, with which a read-write head slider is coupled,
to move the head slider to access portions of a plurality of disk
media; a coil support structure to which the voice coil is fixedly
coupled; and a cam locking mechanism configured to couple the cam
assembly with the coil support structure and decouple the cam
assembly from the coil support structure; wherein: the actuator arm
translates along an axis of the screw upon rotation of the screw;
and the cam assembly and the actuator arm rotate with the coil
support structure when coupled therewith via the cam locking
mechanism.
24. The actuator system of claim 23, wherein the cam assembly and
actuator arm are decoupled from the coil support structure via the
cam locking mechanism when the actuator arm translates upon
rotation of the screw.
Description
FIELD OF EMBODIMENTS
Embodiments of the invention may relate generally to a reduced-head
hard disk drive having an actuator elevator mechanism and
particularly to approaches having a low-profile ball screw cam
actuator elevator mechanism.
BACKGROUND
There is an increasing need for archival storage. Tape is a
traditional solution for data back-up, but is very slow to access
data. Current archives are increasingly "active" archives, meaning
some level of continuing random read data access is required.
Traditional hard disk drives (HDDs) can be used but cost may be
considered undesirably high. Other approaches considered may
include HDDs with extra large diameter disks and HDDs having an
extra tall form factor, with both requiring large capital
investment due to unique components and assembly processes, low
value proposition in the context of cost savings, and barriers to
adoption in the marketplace due to uniquely large form factors, for
example.
Any approaches described in this section are approaches that could
be pursued, but not necessarily approaches that have been
previously conceived or pursued. Therefore, unless otherwise
indicated, it should not be assumed that any of the approaches
described in this section qualify as prior art merely by virtue of
their inclusion in this section.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments are illustrated by way of example, and not by way of
limitation, in the figures of the accompanying drawings and in
which like reference numerals refer to similar elements and in
which:
FIG. 1 is a plan view illustrating a hard disk drive, according to
an embodiment;
FIG. 2A is a perspective view illustrating an actuator subsystem in
a reduced-head hard disk drive, according to an embodiment;
FIG. 2B is an isolated perspective view illustrating the actuator
subsystem of FIG. 2A, according to an embodiment;
FIG. 2C is an isolated plan view illustrating the actuator
subsystem of FIG. 2A, according to an embodiment;
FIG. 3 is a cross-sectional side view illustrating an actuator
elevator assembly, according to an embodiment;
FIG. 4A is an exploded view illustrating a low-profile ball screw
cam assembly, according to an embodiment;
FIG. 4B is a partial cross-sectional view illustrating a portion of
the cam assembly of FIG. 4A, according to an embodiment;
FIG. 4C is a partial cross-sectional view illustrating a portion of
an alternative cam assembly, according to an embodiment;
FIG. 5A is a perspective view illustrating an actuator-elevator
assembly, according to an embodiment;
FIG. 5B is a plan view illustrating the actuator-elevator assembly
of FIG. 5A, according to an embodiment;
FIG. 5C is a perspective view illustrating the actuator-elevator
assembly of FIG. 5A in a reduced-head data storage device,
according to an embodiment;
FIG. 6A is an isolated perspective view illustrating an actuator
position sensor and flexible cable assembly, according to an
embodiment;
FIG. 6B is a perspective view illustrating the assembly of FIG. 6A
assembled with the actuator elevator assembly of FIG. 3, according
to an embodiment;
DESCRIPTION
Approaches to a multi-disk hard disk drive having an actuator
elevator mechanism are described. In the following description, for
the purposes of explanation, numerous specific details are set
forth in order to provide a thorough understanding of the
embodiments of the invention described herein. It will be apparent,
however, that the embodiments of the invention described herein may
be practiced without these specific details. In other instances,
well-known structures and devices are shown in block diagram form
in order to avoid unnecessarily obscuring the embodiments of the
invention described herein.
Physical Description of an Illustrative Operating Context
Embodiments may be used in the context of a multi-disk, reduced
read-write head, digital data storage device (DSD) such as a hard
disk drive (HDD). Thus, in accordance with an embodiment, a plan
view illustrating a conventional HDD 100 is shown in FIG. 1 to aid
in describing how a conventional HDD typically operates.
FIG. 1 illustrates the functional arrangement of components of the
HDD 100 including a slider 110b that includes a magnetic read-write
head 110a. Collectively, slider 110b and head 110a may be referred
to as a head slider. The HDD 100 includes at least one head gimbal
assembly (HGA) 110 including the head slider, a lead suspension
110c attached to the head slider typically via a flexure, and a
load beam 110d attached to the lead suspension 110c. The HDD 100
also includes at least one recording medium 120 rotatably mounted
on a spindle 124 and a drive motor (not visible) attached to the
spindle 124 for rotating the medium 120. The read-write head 110a,
which may also be referred to as a transducer, includes a write
element and a read element for respectively writing and reading
information stored on the medium 120 of the HDD 100. The medium 120
or a plurality of disk media may be affixed to the spindle 124 with
a disk clamp 128.
The HDD 100 further includes an arm 132 attached to the HGA 110, a
carriage 134, a voice-coil motor (VCM) that includes an armature
136 including a voice coil 140 attached to the carriage 134 and a
stator 144 including a voice-coil magnet (not visible). The
armature 136 of the VCM is attached to the carriage 134 and is
configured to move the arm 132 and the HGA 110 to access portions
of the medium 120, all collectively mounted on a pivot shaft 148
with an interposed pivot bearing assembly 152. In the case of an
HDD having multiple disks, the carriage 134 may be referred to as
an "E-block," or comb, because the carriage is arranged to carry a
ganged array of arms that gives it the appearance of a comb.
An assembly comprising a head gimbal assembly (e.g., HGA 110)
including a flexure to which the head slider is coupled, an
actuator arm (e.g., arm 132) and/or load beam to which the flexure
is coupled, and an actuator (e.g., the VCM) to which the actuator
arm is coupled, may be collectively referred to as a head stack
assembly (HSA). An HSA may, however, include more or fewer
components than those described. For example, an HSA may refer to
an assembly that further includes electrical interconnection
components. Generally, an HSA is the assembly configured to move
the head slider to access portions of the medium 120 for read and
write operations.
With further reference to FIG. 1, electrical signals (e.g., current
to the voice coil 140 of the VCM) comprising a write signal to and
a read signal from the head 110a, are transmitted by a flexible
cable assembly (FCA) 156 (or "flex cable"). Interconnection between
the flex cable 156 and the head 110a may include an arm-electronics
(AE) module 160, which may have an on-board pre-amplifier for the
read signal, as well as other read-channel and write-channel
electronic components. The AE module 160 may be attached to the
carriage 134 as shown. The flex cable 156 may be coupled to an
electrical-connector block 164, which provides electrical
communication, in some configurations, through an electrical
feed-through provided by an HDD housing 168. The HDD housing 168
(or "enclosure base" or "baseplate" or simply "base"), in
conjunction with an HDD cover, provides a semi-sealed (or
hermetically sealed, in some configurations) protective enclosure
for the information storage components of the HDD 100.
Other electronic components, including a disk controller and servo
electronics including a digital-signal processor (DSP), provide
electrical signals to the drive motor, the voice coil 140 of the
VCM and the head 110a of the HGA 110. The electrical signal
provided to the drive motor enables the drive motor to spin
providing a torque to the spindle 124 which is in turn transmitted
to the medium 120 that is affixed to the spindle 124. As a result,
the medium 120 spins in a direction 172. The spinning medium 120
creates a cushion of air that acts as an air-bearing on which the
air-bearing surface (ABS) of the slider 110b rides so that the
slider 110b flies above the surface of the medium 120 without
making contact with a thin magnetic-recording layer in which
information is recorded. Similarly in an HDD in which a
lighter-than-air gas is utilized, such as helium for a non-limiting
example, the spinning medium 120 creates a cushion of gas that acts
as a gas or fluid bearing on which the slider 110b rides.
The electrical signal provided to the voice coil 140 of the VCM
enables the head 110a of the HGA 110 to access a track 176 on which
information is recorded. Thus, the armature 136 of the VCM swings
through an arc 180, which enables the head 110a of the HGA 110 to
access various tracks on the medium 120. Information is stored on
the medium 120 in a plurality of radially nested tracks arranged in
sectors on the medium 120, such as sector 184. Correspondingly,
each track is composed of a plurality of sectored track portions
(or "track sector") such as sectored track portion 188. Each
sectored track portion 188 may include recorded information, and a
header containing error correction code information and a
servo-burst-signal pattern, such as an ABCD-servo-burst-signal
pattern, which is information that identifies the track 176. In
accessing the track 176, the read element of the head 110a of the
HGA 110 reads the servo-burst-signal pattern, which provides a
position-error-signal (PES) to the servo electronics, which
controls the electrical signal provided to the voice coil 140 of
the VCM, thereby enabling the head 110a to follow the track 176.
Upon finding the track 176 and identifying a particular sectored
track portion 188, the head 110a either reads information from the
track 176 or writes information to the track 176 depending on
instructions received by the disk controller from an external
agent, for example, a microprocessor of a computer system.
An HDD's electronic architecture comprises numerous electronic
components for performing their respective functions for operation
of an HDD, such as a hard disk controller ("HDC"), an interface
controller, an arm electronics module, a data channel, a motor
driver, a servo processor, buffer memory, etc. Two or more of such
components may be combined on a single integrated circuit board
referred to as a "system on a chip" ("SOC"). Several, if not all,
of such electronic components are typically arranged on a printed
circuit board that is coupled to the bottom side of an HDD, such as
to HDD housing 168.
References herein to a hard disk drive, such as HDD 100 illustrated
and described in reference to FIG. 1, may encompass an information
storage device that is at times referred to as a "hybrid drive". A
hybrid drive refers generally to a storage device having
functionality of both a traditional HDD (see, e.g., HDD 100)
combined with solid-state storage device (SSD) using non-volatile
memory, such as flash or other solid-state (e.g., integrated
circuits) memory, which is electrically erasable and programmable.
As operation, management and control of the different types of
storage media typically differ, the solid-state portion of a hybrid
drive may include its own corresponding controller functionality,
which may be integrated into a single controller along with the HDD
functionality. A hybrid drive may be architected and configured to
operate and to utilize the solid-state portion in a number of ways,
such as, for non-limiting examples, by using the solid-state memory
as cache memory, for storing frequently-accessed data, for storing
I/O intensive data, and the like. Further, a hybrid drive may be
architected and configured essentially as two storage devices in a
single enclosure, i.e., a traditional HDD and an SSD, with either
one or multiple interfaces for host connection.
INTRODUCTION
References herein to "an embodiment", "one embodiment", and the
like, are intended to mean that the particular feature, structure,
or characteristic being described is included in at least one
embodiment of the invention. However, instance of such phrases do
not necessarily all refer to the same embodiment,
The term "substantially" will be understood to describe a feature
that is largely or nearly structured, configured, dimensioned,
etc., but with which manufacturing tolerances and the like may in
practice result in a situation in which the structure,
configuration, dimension, etc. is not always or necessarily
precisely as stated. For example, describing a structure as
"substantially vertical" would assign that term its plain meaning,
such that the sidewall is vertical for all practical purposes but
may not be precisely at 90 degrees.
While terms such as "optimal", "optimize", "minimal", "minimize",
and the like may not have certain values associated therewith, if
such terms are used herein the intent is that one of ordinary skill
in the art would understand such terms to include affecting a
value, parameter, metric, and the like in a beneficial direction
consistent with the totality of this disclosure. For example,
describing a value of something as "minimal" does not require that
the value actually be equal to some theoretical minimum (e.g.,
zero), but should be understood in a practical sense in that a
corresponding goal would be to move the value in a beneficial
direction toward a theoretical minimum.
Recall that there is an increasing need for cost effective "active"
archival storage (also referred to as "cold storage"), preferably
having a conventional form factor and utilizing many standard
components. One approach involves a standard HDD form factor (e.g.,
a 3.5'' form factor) and largely common HDD architecture, with n
disks in one rotating disk stack, but containing fewer than 2n
read-write heads, according to embodiments. Such a storage device
may utilize an articulation mechanism that can move the heads to
mate with the different disk surfaces (for a non-limiting example,
only 2 heads but 5+ disks for an air drive or 8+ disks for a He
drive), where the primary cost savings may come from eliminating
the vast majority of the heads in the drive.
For a cold storage data storage device, a very thin structure
(e.g., the read-write head stack assembly, or "HSA") needs to be
moved while keeping perpendicular to the axis on which it is
moving. That structure also needs to maintain sufficient stiffness
for structural and resonance control. There may be ball screws on
the market that may comply with such requirements, but they are
taller than the shaft they ride on and are typically considerably
expensive.
With other possible approaches, there is a concern that when the
actuator arms are unlocked during the time they need to be moved up
and down to get to different disks, the interface between the arms
and the cam rattles or is relatively loose. This could cause
undesirable motion in the suspensions and heads as the arms are
raised and lowered. There is also a large range of potential
friction between the cam threads, arm threads, and lock nut threads
that could over time cause extra wear and bad repeatability in the
vertical positioning achieved.
Actuator Subsystem for Reduced-Head Hard Disk Drive
FIG. 2A is a perspective view illustrating an actuator subsystem in
a reduced-head hard disk drive (HDD), FIG. 2B is an isolated
perspective view illustrating the actuator subsystem of FIG. 2A,
and FIG. 2C is an isolated plan view illustrating the actuator
subsystem of FIG. 2A, all according to embodiments. FIGS. 2A-2C
collectively illustrate an actuator subsystem comprising a low
profile ball screw cam assembly 202 (or "cam 202"), which
transforms rotary motion into linear motion, with a stepper motor
204 (or "stepping motor") disposed therein to form an actuator
elevator subassembly, which is disposed within the actuator pivot
and pivot bearing of the actuator subsystem (e.g., the "pivot
cartridge") and is configured to vertically translate at least one
actuator arm 205 (see, e.g., arm 132 of FIG. 1) along with a
respective HGA 207 (see, e.g., HGA 110 of FIG. 1). According to an
embodiment, the actuator subsystem for a reduced-head HDD consists
of two actuator arm 205 assemblies each with a corresponding HGA
207 (e.g., a modified HSA, in which the actuator arm assemblies
translate vertically, or elevate, while the VCM coil 209 may be
fixed in the vertical direction) housing a corresponding read-write
head 207a (see, e.g., read-write head 110a of FIG. 1). Generally,
the term "reduced-head HDD" is used to refer to an HDD in which the
number of read-write heads is less than the number of
magnetic-recording disk media surfaces.
With respect to electrical signal transmission, FIGS. 2A-2C further
illustrate a flexible cable assembly 208 ("FCA 208"), which is
configured to comprise a dynamic vertical "loop" 208a ("FCA
vertical loop 208a") for vertical translation of the end(s) that
are coupled to the actuator elevator subassembly and/or another
portion of the actuator subsystem. This FCA vertical loop 208a is
in addition to a typical dynamic horizontal loop for horizontal
translation purposes for when the actuator to which one end is
connected is rotating. The actuator subsystem further comprises at
least one connector housing 210 for housing an electrical connector
for transferring electrical signals (e.g., motor power, sensor
signals, etc.) between the actuator elevator subassembly and a ramp
elevator assembly (described in more detail elsewhere herein).
With respect to actuator arm locking, FIGS. 2A-2C further
illustrate an arm lock subsystem 206, coupled with or constituent
to a coil support assembly 212, configured to mechanically interact
with an outer diameter crash stop 211 ("ODCS 211") to lock and
unlock the actuator elevator subassembly, as described in more
detail elsewhere herein.
Actuator Elevator Assembly
FIG. 3 is a cross-sectional side view illustrating an actuator
elevator assembly, according to an embodiment. The actuator
elevator assembly 300 illustrated in FIG. 3 is configured for use
in an actuator subsystem as illustrated and described in reference
to FIGS. 2A-2C, i.e., configured to vertically translate at least
one actuator arm 205 (shown here is a portion of the arm 205 that
engages with the pivot; see, e.g., FIGS. 2A-2C, 4A-4C) with a
respective HGA 207 (FIGS. 2B, 2C) and read-write head 207a (FIGS.
2B, 2C).
Actuator elevator assembly 300 comprises the actuator elevator
subassembly comprising the ball screw cam 202, having the stepper
motor 204 coupled to (e.g., with an outer sleeve adhered to the
inner surface of the cam 202) and disposed therein and interposed
between the cam 202 and a pivot shaft 310, where the pivot shaft
310 bottom is shown positioned within an opening of a bottom
support plate 308b and the pivot shaft 310 top is shown positioned
approaching or within an opening of a top support plate 308a. In a
typical HDD configuration, the inner pivot shaft 310 is further
coupled to an HDD enclosure base (see, e.g., housing 168 of FIG. 1)
via a screw or other fastener and to an HDD cover (not shown) via
another screw or fastener, effectively sandwiching the pivot shaft
310 and the actuator elevator assembly 300 more broadly within the
corresponding HDD.
Actuator elevator assembly 300 further comprises a first set or
pair of HSA pivot bearings 302 (along with upper inner bearing
housing 302a and lower inner bearing housing 302b) interposed
between the pivot shaft 310 and the stepper motor 204 (e.g., one
bearing assembly near the top and one bearing assembly near the
bottom). HSA pivot bearings 302 function to support loads
associated at least in part with the rotation of the actuator arms
205 (FIGS. 2A-2C), along with the stepper motor 204 and the cam 202
to which it is attached, about the stationary pivot shaft 310, such
as during actuator seek/read/write/load/unload operations. Actuator
elevator assembly 300 further comprises a second set or pair of cam
bearings 304 interposed between the stepper motor 204 and the cam
202 (e.g., one bearing assembly near the top and one bearing
assembly near the bottom). Cam bearings 304 function to support
loads associated at least in part with the rotation of the stepper
motor 204 and the cam 202 about the stationary pivot shaft 310
(when the actuator elevator subassembly is decoupled from the HSA
pivot inner bearing housing 302a, 302b, as described in more detail
elsewhere herein with respect to the operation of the arm lock
subsystem 206), such as during actuator vertical translation
operations.
Actuator elevator assembly 300 further comprises a third set of
ball screw bearings comprising balls 202c and retainer 202b
interposed between a cam screw 202a (see, e.g., FIGS. 4A-4C) and
the actuator arm 205. This ball screw bearing assembly functions to
support loads associated at least in part with the rotation of the
stepper motor 204 and the cam 202 about the stationary pivot shaft
310 and the consequent actuator vertical translation
operations.
Low Profile Ball Screw Cam
According to an embodiment, one approach to an actuator elevator
mechanism for a cold storage HDD uses a multi-start threaded shaft
(also referred to as a "multi-start ball screw") with a ball in
each start to create a plane perpendicular to the screw/cam. The
balls are held equally spaced around the shaft by a bearing
retainer. The balls are preloaded to the shaft at all times by
compressing the two outer races. This platform is stable and does
not rattle or function loosely, thus providing consistent
structural integrity.
FIG. 4A is an exploded view illustrating a low-profile ball screw
cam assembly, and FIG. 4B is a partial cross-sectional view
illustrating a portion of the cam assembly of FIG. 4A, according to
an embodiment. The illustrated ball screw cam assembly referred to
as cam 202 comprises the hollow threaded shaft or screw 202a, a
bearing retainer 202b or retaining ring with a plurality of
equally-spaced retained balls 202c, a bearing half-race 202d, an
O-ring 202e, and, optionally, a C-clip 202f, according to an
embodiment. Cam 202 is configured for use in the actuator elevator
assembly 300 illustrated in FIG. 3, which is configured for use in
the actuator subsystem illustrated and described in reference to
FIGS. 2A-2C, i.e., to vertically translate at least one actuator
arm 205 with a respective HGA 207 and read-write head 207a.
However, use of a cam mechanism such as cam 202 in implementations
outside of such an actuator subsystem (e.g., in a camera, or in
other products requiring a miniature cam/translation mechanism) is
contemplated, so the use scenarios for cam 202 are not limited to
implementations only within such an actuator subsystem.
It is noteworthy that with cam 202, according to an embodiment, the
number of starts equals the number of balls, thereby providing a
stable planar "platform" with a single bearing assembly and
perpendicular to the axis/translation path. According to an
embodiment, three balls 202c are held within the bearing retainer
202b, thereby providing a 3-point planar bearing assembly while
facilitating the low-profile aspect of the cam 202. While three
balls are needed to define or construct the plane, the number of
balls 202c may vary from implementation to implementation. While
greater than three balls 202c provides a more stable planar
platform (e.g., more contact points about the shaft provides more
actuator arm stiffness and stability), a greater number of balls
202c would also increase the thread pitch and lead corresponding to
the screw thread (especially in view of a stepper motor driver),
perhaps undesirably in some use scenarios.
With reference to FIG. 4B, one can see that the tapered
starts/threads of screw 202a function as upper and lower portions
of an inner race of the bearing assembly of cam 202. According to
an embodiment, the outer race of the bearing assembly of cam 202 is
a split-race, i.e., a 2-part race (whereby the two outer load
surfaces are split among two parts), comprising a tapered inner
surface 205a of the opening in arm 205 as a lower outer race
surface, and a tapered lower surface of bearing half-race 202d as
an upper outer race surface, together forming what may be referred
to as a v-notch outer race. The bearing assembly is therefore
preloaded radially at four points of contact via the inner and
outer races, while the O-ring 202e (e.g., elastomeric) functions as
a spring to provide a variable compression force applied to the
bearing half-race 202d, in conjunction with the C-clip 202f
Alternatively to use of an elastomeric O-ring 202e (e.g., which can
degrade and cause creep over time), according to an embodiment a
wavy washer, functioning as a metallic spring, may be implemented
to provide the compression force to the outer race. Hence, this
arrangement functions to manage or compensate for the possibility
of slight changes in the diameter of the inner race/threads at
various locations along the length of the screw 202a, such as those
associated with part tolerances and manufacturing variability.
Furthermore, one could eliminate use of the C-clip 202f and
reconfigure the outer race, as illustrated in FIG. 4C. FIG. 4C is a
partial cross-sectional view illustrating a portion of an
alternative cam assembly, according to an embodiment. As with the
embodiment illustrated in FIG. 4B, the tapered starts/threads of
screw 202a function as upper and lower portions of an inner race of
the bearing assembly of this embodiment of ball screw cam, cam 203.
Here also the outer race of the bearing assembly of cam 203 is a
split-race, or 2-part race, comprising a tapered half-race 202d-1
as a lower outer race surface and a tapered half-race 202d-2 as an
upper outer race surface (bonded to an inner surface of the opening
in arm 205 after preloading), together forming what may be referred
to as a v-notch outer race. Here also the bearing assembly is
therefore preloaded radially at four points of contact via the
inner and outer races, while the O-ring 202e (or wavy washer)
functions as a spring to provide a variable compression force
applied to the bearing split-race comprising 202d-1, 201d-2.
In-Pivot Stepper Motor
In the context of a cold storage HDD that includes a rotary cam
(e.g., cam 202) that is rotated with respect to the coil assembly
(e.g., VCM coil 209), which would vertically move the actuator arms
205 up and down from disk to disk, a means to provide that rotation
is needed. According to an embodiment and with reference to FIGS.
2A-3, a stepper motor 204 is assembled within the pivot (or, the
pivot cartridge) of the actuator subsystem (FIGS. 2A-2C), which, in
conjunction with the cam 202 (FIGS. 4A-4B), forms an actuator
elevator assembly 300 (FIG. 3).
So-called "claw-pole" designs contain an inner permanent magnet
(PM) mounted on a rotary lead-screw shaft. In the context of a
multi-disk HDD having an actuator elevator mechanism, the actuator
subsystem design comprises a stationary shaft during the
translation of the head stack assembly (HSA) to switch between
magnetic recording disks. With this, a unique design of a claw-pole
stepper motor is needed. The smaller magnet volume of a typical
claw-pole motor where the stator circumscribes the PM requires a
high number of turns (100 or more) with a very small copper wire
(e.g. 0.05 mm) due to the physical limitations. Because
electromagnetic torque, T.sub.e=kD.sup.2L, is proportional to the
square of the diameter of the magnetic air gap and the stator stack
length, it is advantageous to maximize the motor diameter.
However, winding with a smaller wire diameter is difficult due to
its fragility and is more susceptible to the fluctuation of the
winding tension that causes wider distribution of the winding
resistance. A high number of turns with a small diameter wire
results in a higher copper loss, P.sub.copper loss=i.sup.2R, and
subsequent heat that may adversely affect the internal environment
of the HDD in terms of the dynamic read-write head gap due to
potential ball-bearing oil migration. Thus, in the confined space
of the cold storage data storage device rotary cam, it is
preferable to implement a compact stepper motor to rotate the cam
in order to move the HSA bi-directionally in the vertical direction
to access different disks in the stack.
A claw-pole motor such as stepper motor 204 comprises, for example,
two uni-filar windings in injection-molded-plastic spools for
bipolar control and four claw-pole stators made from cold-rolled
steel sheet metal, electrical steel sheet metal, SMC (Soft Magnetic
Composite), and the like, where use of electrical steel with
various levels of silicon content or SMC reduces the eddy current
loss. Furthermore, use of SMC can produce a complex geometry
through powder metallurgy, unlike stamped and formed electrical
steel sheet. Each stator contains p/2 teeth (p=number of poles),
e.g., 5 teeth per claw-pole stator according to an embodiment of
stepper motor 204 having a 10-pole PM. The step angle of a stepper
motor depends on the number of poles and stator teeth. In a design
having 10 poles and 20 teeth, suitable for the intended purpose,
the step angle/rotation is 18.degree. or 20 steps/revolution in a
full-step control, with both stator assemblies having a pair of
claw-pole stators shifted relative to the other by one-half pole
width, and where the step angle is inversely proportional to the
number of stator teeth. Likewise, a design with 100 teeth yields
360.degree./100 or 3.6.degree./step angle, for example. In the case
of 4 start-threaded rotary cam, this 3.6.degree. step angle would
provide 4 mm/100 steps or 0.04 mm step resolution rather than 4
mm/20 steps or 0.2 mm step resolution, thus providing a more
precise and accurate servo control for positioning the HSA between
the disks. Stated otherwise, a higher number of the claw (stator)
teeth provides for a smaller step resolution. However, the outer
diameter (OD) of the system (e.g., cam 202) limits the possible
number of claw teeth. That is, with a given OD there is a practical
limit to the number of teeth implemented because adding more teeth
reduces their size and leads to manufacturing difficulty, magnetic
saturation, and unstable tooth structures. For example, with an 18
mm OD, the system could be limited to 40 teeth and a step angle of
360.degree./40 or 9.degree.. To get a higher step resolution, a
micro-step may be used, where a typical bi-polar driver provides
1/2, 1/4, 1/8, 1/16, and 1/32 micro-steps.
A corresponding rotor of stepper motor 204 comprises a PM (e.g.
Nd--Fe--B) attached to the inner diameter of the cam 202 (see,
e.g., FIG. 3), which, according to an embodiment, is constructed of
ferritic stainless steel, and where the PM comprises 10
hetero-polar magnets. Hence, when the coils are energized the teeth
become north and south poles, and mutual torque is established when
the north PM poles align with the south claw poles and the south PM
poles align with the north claw poles. Reversing the current
polarity in the stator coils reverses the polarity of the
electromagnetic claw poles and the resultant torque advances the
rotor one full step.
Note that the number of coils and corresponding claw-pole stator
pairs (i.e., phases), and the number of corresponding teeth on each
claw-pole stator, may vary from implementation to implementation
based on specific design goals (e.g., torque, phases and rotational
degrees/step or steps/revolution) and, therefore, are not limited
by the number described in the foregoing example. For example, with
a 2-inch form-factor HDD, a four-coil design is feasible, which
equates to 9.degree. step angle, i.e., 360.degree./(number of teeth
per claw)*(number of claws)=360.degree./(5*8)=9.degree./step.
Alternatively, the step angle can be computed from the
corresponding number of rotor poles and phases, i.e.,
360.degree./(2 phases*20 rotor poles)=9.degree./step.
With reference back to FIG. 3, stepper motor 204 comprises a
circular "phase A" coil 320a (with or without corresponding bobbin)
enveloped by a pair of corresponding circular and mating claw-poles
stators 321a, a circular "phase B" coil 320b (with or without
corresponding bobbin) enveloped by a pair of corresponding circular
and mating claw-pole stators 321b, disposed within a circular
permanent magnet 322 ("PM 322"), all positioned around the
stationary shaft 310. Note that when the HSA moves (e.g., actuator
arm 205 seeks), the cam 202 and the HSA pivot bearing 302 upper and
lower housing 302a, 302b move synchronously and thus eliminate the
differential reluctance or cogging torque that must be overcome in
the rotary motion of the HSA.
According to an embodiment, it is noteworthy that in-pivot stepper
motor 204 is configured with an outer rotor and inner stators. That
is, in contrast with typical stepper motors, here the PM 322 is on
the outside of the stepper motor 204 assembly and the claw-poles
321a, 321b and coils 320a, 320b are on the inside of the PM 322.
Likewise, while a conventional stepper motor typically rotates a
central shaft, here the shaft 310 is fixed/stationary and the PM
322 rotor is bonded to the inner diameter of the cam shaft or screw
202a such that the stepper motor 204 rotates the outer cam 202
about the fixed inner shaft 310. In that sense, this embodiment of
stepper motor 204 is akin to a conventional stepper motor that is
"turned inside-out".
Method of Assembling an Actuator Elevator Subassembly
A method of assembling an actuator elevator subassembly, according
to an embodiment, is as follows. The described method may be used
to assemble an assembly comprising the cam 202 and a 10-pole
stepper motor such as in-pivot stepper motor 204, for example.
However, as described elsewhere herein, the number of poles may
vary from implementation to implementation and therefore, is not so
limited.
First, insert the upper HSA pivot bearing 302 into the upper inner
bearing housing 302a and bond (e.g., glue) the outer race of the
upper HSA pivot bearing 302 to the upper inner bearing housing
302a. Next, insert the upper cam bearing 304 around the inner
bearing housing 302a and bond the inner race of the upper cam
bearing 304 to the upper inner bearing housing 302a. Once these
bearings 302, 304 are assembled, the method moves on to the stepper
motor 204, as follows.
Insert around, orient, and bond a claw-pole stator 321a (a first
half of a first pair) to an outer sleeve portion of the upper inner
bearing housing 302a. Next, insert within and bond a first coil
320a to the first claw-pole stator 321a of the first pair. Next,
rotate a claw-pole stator 321a (the second half of the first pair)
36.degree. relative to the first claw-pole stator 321a of the first
pair and bond the second half of the claw-pole stator 321a to the
outer sleeve portion of the upper inner bearing housing 302a. Next,
rotate a claw-pole stator 321b (a first half of a second pair)
18.degree. relative to the second claw-pole stator 321a of the
first pair and bond the first half of the claw-pole stator 321b of
the second pair to the outer sleeve portion of the upper inner
bearing housing 302a. Next, insert around and bond a second coil
320b to the upper inner bearing housing 302a. Next, rotate a
claw-pole stator 321b (the second half of the second pair)
36.degree. relative to the first claw-pole stator 321b of the
second pair and bond the second half of the claw-pole stator 321b
to the outer sleeve portion of the upper inner bearing housing
302a. Insert a magnetized PM 322 (magnetized to produce 10 pole, or
5 pole-pairs) and bond the outer diameter surface of the PM 322 to
in the inner diameter surface of the screw 202a. Once the stepper
motor is assembled as above, the method moves on to the lower
bearings, as follows.
Insert the lower HSA pivot bearing 302 into the lower inner bearing
housing 302b and bond the outer race of the lower HSA pivot bearing
302 to the lower inner bearing housing 302b. Next, insert the lower
cam bearing 304 around the lower inner bearing housing 302b and
bond the inner race of the lower cam bearing 304 to the lower inner
bearing housing 302b. Next, bond the outer race of the lower cam
bearing 304, now in assembly form with the lower HSA pivot bearing
302 and the lower inner bearing housing 302b, into the screw 202a
subassembly. Next, apply bonding adhesive completely around the
outer diameter periphery of the upper inner bearing housing 302a,
and apply bonding adhesive to the outer race of the upper cam
bearing 304, and insert this subassembly into the screw 202a
subassembly. Next, apply an adhesive bead to the lower inner
bearing housing 302b and insert that lower bearing assembly into
the screw 202a subassembly and the upper bearing subassembly.
Finally, heat-cure the thermoset adhesive by placement of the
assembly in an oven, for example.
Locking/Unlocking Mechanism for Vertically Translatable Actuator
Assembly
FIG. 5A is a perspective view illustrating an actuator-elevator
assembly, FIG. 5B is a plan view illustrating the actuator-elevator
assembly of FIG. 5A, and FIG. 5C is a perspective view illustrating
the actuator-elevator assembly of FIG. 5A in a reduced-head data
storage device, all according to an embodiment. According to an
embodiment and with reference to FIGS. 2A-4B, the locking/unlocking
mechanism is constituent to the actuator subsystem (FIGS. 2A-2C)
and which operates to vertically lock the actuator arm in place
during seek/read/write operations, for example, and to unlock the
actuator arm for vertical translation under the control of the cam
202 (FIGS. 4A-4B) and the stepper motor 204 (FIGS. 2A-3)
constituent to the actuator elevator assembly 300 (FIG. 3).
FIGS. 5A-5C collectively illustrate a locking/unlocking mechanism
previously-introduced as arm lock subsystem 206 (hereinafter,
"locking mechanism 206"), located in the general area labeled as
B-B in FIG. 5A. Locking mechanism 206 comprises a tab 206d
extending from actuator arm 205 into a slot 206e within the
structure of coil support assembly 212, whereby the tab 206d is
squeezed, held, locked within the slot 206e when in a cam locked
position and is released, unlocked from the compression of the slot
206e and therefore free to travel in the vertical direction when in
a cam unlocked position. According to an embodiment, the tab 206d
and/or the clamping surfaces of the slot 206e are coated with a
low-wear, high-coefficient of friction (COF) material to provide
for strong clamping while inhibiting the undesirable particle
generation within the drive. Locking mechanism 206 further
comprises a spring mechanism 206b disposed within a slit 206c
within the coil support assembly 212, wherein the slit 206c
intersects the slot 206e. According to an embodiment, the spring
mechanism 206b is a sheet-like piece of material that is relatively
thin, and long in the vertical direction in comparison with its
width positioned coincident within the slit 206c. The spring
mechanism 206b is rigid enough and configured/positioned within the
slit 206c spanning across the slot 206e such that the force
produced by the spring mechanism 206b, in a locked or default
position (i.e., slightly bent along a vertical axis to elicit a
spring-like force), compresses each side of the slot 206e toward
each other to squeeze and hold the tab 206d in a fixed position
within the slot 206e.
The cam is unlocked when the force associated with the spring
mechanism 206b is overcome, thereby opening wider the slot 206e,
such that the tab 206d is released from the hold of the slot 206e
and thereby enabled to travel vertically within the slot 206e so
that the actuator arm 205 from which the tab 206d extends can be
vertically translated by the actuator elevator assembly 300. The
force of spring mechanism 206b is overcome when a lock arm 206a,
which is part of or constituent to the coil support assembly 212,
and which is part of or extension of one side of the slot 206e,
mechanically interacts with the previously-introduced ODCS 211,
according to an embodiment. Alternatively, interaction with a
mechanical element, feature, or structure other than a crash stop
could be used to overcome the holding force of the spring mechanism
206b. As such, when the actuator arm 205 is driven/rotated far
enough past the outer diameter of the disk stack, the lock arm 206a
"crashes" into the ODCS 211, which causes the lock arm 206a to
rotate (e.g., counter-clockwise) which then functions to open the
gap corresponding to slot 206e (e.g., similarly to how a
clothes-pin functions).
Flexible Cable Assembly with Vertical Loop
FIG. 6A is an isolated perspective view illustrating an actuator
position sensor and flexible cable assembly, and FIG. 6B is a
perspective view illustrating the assembly of FIG. 6A assembled
with the actuator elevator assembly of FIG. 3, both according to an
embodiment. According to an embodiment and with reference to FIGS.
2A-5C, the illustrated actuator position sensor and flexible cable
assembly are constituent to the actuator subsystem (FIGS. 2A-2C),
which provides for vertical translation of the actuator arm 205
under the control of the cam 202 (FIGS. 4A-4B) and the stepper
motor 204 (FIGS. 2A-3) constituent to the actuator elevator
assembly 300 (FIG. 3).
Conventional HDDs typically include a flexible cable assembly (FCA)
such as FCA 156 of FIG. 1, which require some slack in the
horizontal direction (e.g., XY direction) to allow for the distance
between its connection points to vary in the horizontal direction
in response to actuator rotation, as one connection point is with
part of the actuator arm. However, an FCA cable for a rotating and
vertically translating actuator connects to an actuator that not
only moves in the XY plane for seeking data on the disk, but also
moves in the Z direction to move among the disks in the multi-disk
stack. Thus, a complete flex may be designed as either a one part
solution or designed as two different parts combined together, with
the use of a connector to carry electrical signals. With an
actuator that is configured to move vertically, such as in the
context of the actuator subsystem described in reference to of
FIGS. 2A-5C, according to an embodiment the FCA 208 (see, e.g.,
FIGS. 2A-2C, not shown here), which moves in the XY direction such
as during seeking, further comprises or is electronically coupled
or spliced with a dynamic vertical loop portion of FCA, referred to
as FCA vertical loop 208a, which moves effectively independently of
the FCA 208 portion such as when the actuator is vertically
translating. Functionally similar to the FCA 156, the FCA vertical
loop 208a provides some slack in the Z direction to allow for the
distance between its connection points to vary in the vertical
direction in response to actuator vertical translation, as one
connection point is with part of the actuator arm 205. Both the
horizontal loop of FCA 208 and the FCA vertical loop 208a are
configured to move independently of the other.
Note that the configuration and shape of the FCA vertical loop 208a
may vary from implementation to implementation. According to an
embodiment, a "U-loop" configuration is implemented for FCA
vertical loop 208a (the loop generally resembles a letter "U" in
various not-fully-extended states), as depicted in FIGS. 6A-6B.
However, other shaped vertical loops may be designed and
implemented for use in this context, such as a C-loop shape that
resembles the letter "C" when not fully extended and an S-loop
shape that resembles the letter "S" when not fully extended, and
the like. In the configuration depicted, the FCA vertical loop 208a
is positioned near a preamp 606 and whereby the XY loop of FCA 208
electrically connects the FCA vertical loop 208a to a bracket
and/or a connector housing 210 (see, e.g., FIGS. 2A-2C).
Further illustrated in FIGS. 6A-6B is a pair of proximity or
position sensors 602 coupled to the actuator arm 205 and configured
to sense the Z position of the actuator arm 205 (e.g., vertical
height) relative to a magnetic encoding strip and, ultimately,
relative to the disk stack. According to an embodiment, one or more
Hall effect sensors mounted in a quadrature configuration are
implemented for the position sensor(s) 602, which function in
coordination with a closely-positioned magnetic encoding strip 604,
mounted on a stiffener 605, to provide sine and cosine signals for
sensing the directions and crossing of the waveforms. The stiffener
605 may further function for positioning of the FCA 208 and FCA
vertical loop 208a.
Generally, magnetic flux density in the air gap between the Hall
sensors and the permanent magnet scale (i.e., magnetic encoding
strip 604) should be set at an optimum gap range to provide
adequate signal strength. A narrow gap causes signal saturation and
a wide gap weakens the signal. In either case, detection of the
zero-crossing points is uncertain. However, the quadrature
configuration of the Hall sensors in conjunction with a 1 mm
pole-pitch magnetic scale provides displacement and direction
simultaneous by virtue of the leading and lagging nature of the
waveforms in the upward and downward translations. For example, one
Hall sensor signal leads when the stepper motor moves downward, and
another Hall sensor signal leads when the stepper motor moves
upward. A leading Hall sensor signal indicates the translational
direction and the zero-crossing points of the sine-cosine waveforms
provide the amount of the displacement.
Extensions and Alternatives
In the foregoing description, embodiments of the invention have
been described with reference to numerous specific details that may
vary from implementation to implementation. Therefore, various
modifications and changes may be made thereto without departing
from the broader spirit and scope of the embodiments. Thus, the
sole and exclusive indicator of what is the invention, and is
intended by the applicants to be the invention, is the set of
claims that issue from this application, in the specific form in
which such claims issue, including any subsequent correction. Any
definitions expressly set forth herein for terms contained in such
claims shall govern the meaning of such terms as used in the
claims. Hence, no limitation, element, property, feature, advantage
or attribute that is not expressly recited in a claim should limit
the scope of such claim in any way. The specification and drawings
are, accordingly, to be regarded in an illustrative rather than a
restrictive sense.
In addition, in this description certain process steps may be set
forth in a particular order, and alphabetic and alphanumeric labels
may be used to identify certain steps. Unless specifically stated
in the description, embodiments are not necessarily limited to any
particular order of carrying out such steps. In particular, the
labels are used merely for convenient identification of steps, and
are not intended to specify or require a particular order of
carrying out such steps.
* * * * *